Maret 2005

Pemanfaatan Simulink untuk

Pembelajaran Pengendalian
Proses pada Topik Pengendali
PID

Hamid Abdillah
 Maret 2005

Outlines
 Algoritma pengendalian PID
 Aspek praktis

Tujuan
 Memahami pengendalian PID
 Memahami fungsi dari tiap-tiap bentuk pengendalian PID
 Dapat melakukan visual tuning
 Maret 2005

Pengendalian PID
 PID singkatan dari Proportional - Integrator –
Derivative.
 Digunakan pada pengendalian umpan balik
 Dikenal juga sebagai “three-term control”.
 Menggunakan pemrograman komputer.
 Maret 2005

Diagram Blok Pengendalian Umpan Balik

Set point
(SP)

Gc = fungsi transfer controller (pengendali)

Ga = fungsi transfer actuator (biasanya control valve)
Gp = fungsi transfer proses
Gm = fungsi transfer measurement (pengukuran)
Gl = fungsi transfer load (gangguan)
 Maret 2005

PID Control
 Algoritma PID sederhana, mudah dipahami, dan relatif
lebih mudah disetel (tuned) daripada pengendali lain
 Menjadi peralatan standar ketika pengendalian proses
berkembang pada tahun 1940an
 Pada pengendalian proses saat ini, lebih dari 90%
lingkar pengendalian menggunakan tipe PID
 Maret 2005

Konsep Dasar
 Aksi Proses
Definisi hubungan antara perubahan pada valve dan
perubahan pada pengukuran
• DIRECT: Peningkatan posisi valve mengakibatkan
peningkatan pada variabel proses
• REVERSE Peningkatan posisi valve mengakibatkan
penurunan pada variabel proses
 Maret 2005

Konsep dasar

ARAH PROSES: DIRECT 

ARAH PENGENDALI: REVERSE

ARAH PROSES: REVERSE 

PENGENDALI HARUS: DIRECT
Aksi pengendali harus berlawanan terhadap aksi proses
 Maret 2005

Konsep dasar
 Algoritma PID tidak mengenali output yang benar untuk
membawa variabel proses menuju setpoint
• Yang mengenali output yang benar adalah pengguna
yang melihat hasil pengendalian
 PID algorithm harus disetel (di tuning) sesuai dengan
proses.
• Tiap bentuk dari persamaan PID harus dipahami.
• Penyetelan didasarkan pada dinamika respon proses
 Maret 2005

Cin

Jika 1 =0,5 dan 2 = 2 maka persamaannya menjadi:

(2,5 s + 2) / (s^2 + 2,5 s + 1)
 Maret 2005

Key Concepts (3)

 Manual & Auto modes
• Manual mode
 operator manusia mengatur output dalam mengoperasikan proses
 Manual Mode sangat berguna saat kondisi yang tidak stabil:
 Plant start-up
 Plant shut-down
 Emergencies
• Auto mode
 Algoritma pengendalian memanipulasi output untuk menghitung sendiri nilai
setelan pengendali dengan bantuan program komputer hingga tercapainya set
point.
 Biasanya dipakai untuk operasi steady state normal.
 Maret 2005

Algoritma Pengendalian PID

 Terdiri dari:
• Proportional – dikenal juga sebagai Proportional Gain
atau Gain
• Integral – dikenal juga sebagai Automatic Reset atau
Reset
• Derivative – dikenal juga sebagai Rate atau Pre-Act

 Bisa juga dikombinasikan menjadi:

• Proportional saja (P)
• Proportional dan Integral (PI) (paling umum)
• Proportional, Integral, dan Derivative (PID)
• Proportional dan Derivative (PD)
 Maret 2005

Mode Proporsional (1)

CO = P .e SP
+
e CO
PP
P = proportional gain
PVm
CO = controller output (%)
b = Bias (%) (dikenal juga sebagai manual reset)
e = ( SP – PVm ) (%)  “reverse action”, atau
e = – ( SP – PVm ) (%)  “direct action”

 Beberapa pembuat alat menggunakan Proportional Band (PB)

CO = P. e
100 100
PB = = e.
P PB
 Maret 2005

Mode Proporsional (2)

 Proportional saja menghasilkan offset
• Offset dapat dikurangi dengan meningkatkan controller gain (atau
menurunkan proportional band). Tetapi tidak dapat menyetel gain yang
terlalu besar karena akan cenderung menimbulkan osilasi dan atau
ketidak stabilan.

PVm
SP

Large P

Small P

time
 Maret 2005

Mode Proporsional (2)

• Untuk menghilangkan offset, operator harus secara manual melakukan
“reset” dengan mengatur nilai manual reset (“b” )

PVm
SP

Manual reset
P constant

Manual reset

time
 Maret 2005

Mode Integrator (Automatic Reset) (1)

1
CO =
Tm e dt SP
+
e 11
TTmm
 dt
CO


Tm = integral time (minute per repeat or PVm
second per repeat)
CO = controller output (%)
e = ( SP – PVm ) (%)  “reverse action” or
e = – ( SP – PVm ) (%)  “direct action”

 Some manufacturers use repeat per minute (or repeat per second)
instead of minute per repeat (or second per repeat)
• Repeat per minute (or second) is the time it takes the reset (or integral) element to
repeat (reset) the action of the proportional element

e dt
1
repeat per minute (Tr) =
minute per repeat (Tm) CO = I


 Maret 2005

Integral (Automatic Reset) Mode (2)

 Selama masih ada error , controller selalu merubah
output dengan melakukan koreksi, sehingga mode
Integral memungkinkan untuk menghilangkan error (error
menjadi nol)
 Kecepatan PV
respons menjadi lebih kecil (jika dibandingkan
m
SP
P-only mode)
P-only

I-only

Small P

time
 Maret 2005

Mode Proportional-Integral(1)
PP

SP
+
e 11 CO
TTmm
 dt
PVm

1
CO = P (e +
Tm e dt )

 Maret 2005

Mode Proportional-Integral (2)

 Response of PI controller to step change in error
P Output response
Slope =
Tm for various
values of Tm
Response equal
Controller Output (CO)

in magnitude to
Proportional
response

Response due to
Proportional P
control action

Tm time
Error

0
time
 Maret 2005

Mode Proportional-Integral (3)

 Mengkombinasikan fitur terbaik dari mode proportional
dan integral modes
• Offset proporsional dihilangkan dimana hanya terjadi sedikit saja
penurunan kecepatan.

PVm PI
SP

P-only

I-only

Small P

time
 Maret 2005

Mode Derivative (1)

de SP e CO
CO = D dt + D
d
D dt

PVm
D = derivative time (minute or second)
CO = controller output (%)
e = ( SP – PVm ) (%)  “reverse action” or
e = – ( SP – PVm ) (%)  “direct action”

 Kecepatan respon meningkat (jika dibandingkan dengan

P-only mode)
 Hipersensitif terhadap noise dan gangguan frekuensi tinggi
lain.
 Maret 2005

Derivative Mode (2)

 sinyal error steady-state, walaupun demikian, tidak
dikenali oleh controller D, karena berapapun besarnya
kesalahan, kecepatan perubahannya adalah nol.
Sehingga pengendali derivative saja tidak digunakan
dalam praktek. (harus dikombinasikan, biasanya dengan
P dan PI)
 Maret 2005

Proportional-Derivative Mode (1)

d b
D
D dt +
SP e + CO
+
PP
+
+

PVm

de
)
CO = P (e + D dt + b
 Maret 2005

Mode Proportional-Derivative (2)

 Respons pengendali PD terhadap perubahan error
berupa ramp Response due to
Proportional and
Response due to Derivative modes
Proportional and
Derivative modes
Controller Output (CO)

Theoretical
Actual

Response due to
Proportional mode
only
D

time

Ramp
Generator OFF
Error

Ramp
Generator ON time
 Maret 2005

Proportional-Derivative Mode (3)

 PD control can produces an offset
 To avoid proportional offset, the bias “b” should be set
when the PVm is at setpoint
 Commonly found in slow-response process control, e.g.
temperature, pH, composition controls
PVm
SP

PD

P-only

Small P

time
 Maret 2005

Proportional-Integral-Derivative Mode (1)

 Combine the best feature of P, I, and D terms

11
TTmm
 dt
SP e + CO
+ +
PP
+
d
D
D dt

PVm

1 de
CO = P (e +
Tme dt + D dt )

 Maret 2005

Proportional-Integral-Derivative Mode (2)

P-only – notice the offset

P and I – offset gone

P, I and D – best

time
 Maret 2005

Bentuk-Bentuk Lain Cara Penulisan PID

MATLAB menggunakan persamaan:
P+I/s+Ds
Artinya
P * e + I * ∫e dt + D * de/dt
(perhatikan perbedaan I dan Tm, dan perhatikan satuan Tm
dan D dalam menit  harus dikonversi jika dijadikan
detik)

Buku STEPHANOPOULOS menggunakan

CO = Kc * ( e + 1/i * ∫ e dt + d * de/dt ) atau
CO = Kc * e + Kc /i * ∫ e dt + Kc * d * de/dt
 Maret 2005

Additional PID Concepts

Interactive vs. Non-interactive PID Algorithm
 Refer to interaction between the reset and derivative
terms
 Also known as ‘series’ or ‘parallel’
 Almost all analog controllers are interactive
 Many digital controller are non-interactive, some are
interactive
 The only difference is in the tuning of controller with
derivative
 Maret 2005

Reset Windup (1)

 All actuators have limitations:
• Ex.: A motor has limited speed, a valve cannot be more than fully opened
or fully closed
 Windup phenomena is caused by the interaction of
integral action and saturations
 When this happens the feedback loop is broken and the
system runs as an open loop because the actuator will
remain at its limit independently of the process output
• If a controller with integrating action is used, the error will continue to be
integrated. This means that the integral term may become very large or,
colloquially, it “winds up”
• It is then required that the error has opposite sign for a long period before
things return to normal
• The consequence is that any controller with integral action may give large
transients when the actuator saturates
 Maret 2005

Reset Windup (2)

y
PVm
ysp
SP

c
CO

Time

 Note that controller output saturates causing area “A” to accumulate

by the integral action
 After the disturbance returns to its normal level, the controller output
remains saturated for a period of time causing an upset in PVm
 Maret 2005

Anti-Reset Windup

ySPsp y
PVm

c
CO

Time
 When the manipulated variable saturates, the integral is not allowed
to accumulate
 When control returns, the controller takes immediate action and the
process returns smoothly to the setpoint
 Maret 2005

Methods for Anti-Reset Windup

 Turn off the integral when a valve saturates or a control
loop is not in use.
 Clamp the controller output to be greater than 0% and
less than 100%.
 Apply internal reset feedback
 Apply external reset feedback
 Maret 2005

Bumpless Transfer (1)

 Practically all controllers can be run in two modes:
manual or automatic
 When the system is in manual mode, the control algorithm
produces a control signal that may be different from the
manually generated control signal, or vice versa. It is
necessary to make sure that the two outputs coincide at
the time of switching. This is called bumpless transfer
 With bumpless transfer, an internal setpoint is used for
the controller and the internal setpoint is ramped at a slow
rate from the initial conditions to the actual desired
setpoint to order to provide a smooth startup of a control
loop
 Maret 2005

Bumpless Transfer (2)

 Comparison of true and internal setpoint

True Setpoint

Internal Setpoint

Time
 Maret 2005

Bumpless Transfer (3)

 Control Performance with and without bumpless transfer

w/o bumpless transfer

w/ bumpless transfer

Time
 Maret 2005

Derivative on Process Rather than Error (1)

The Facts:
• A step change in the set point results in a step change in the process
• The derivative term acts on the rate of change of the error
• The rate of change of a step change is very large
• An operator step change of the setpoint would causes a very large change in
the output, upsetting the process

Derivative
Spike
MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using standard PID
 Maret 2005

Derivative on Process Rather than Error (2)

Solution: Let derivative act only on process rather than
error
11
TTmm
 dt
SP e + CO
+ +
PP

d
PP .D
D dt

PVm

1 dPVm
CO = P (e +
Tm ) .
e -P D
dt

 Maret 2005

Derivative on Process Rather than Error (3)

 Process variable and valve response to a setpoint change

MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Derivative on Process Measurement” PID
 Maret 2005

Derivative on Filtered Process

Rather than Process (1)
The Fact:
• The derivative mode is hypersensitive to noise
 Maret 2005

Derivative on Filtered Process

Rather than Process (2)
 Maret 2005

Gain on Process Rather than Error (1)

The Facts:
• In applications with high gain, a step change can result in a sudden, large
movement in the valve
• Not as severe as derivative effect, but still can upset the process

MV

Gain
response
SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Gain on error and Derivative on Process Measurement” PID
 Maret 2005

Gain on Process Rather than Error (2)

Solution: Let gain act only on process rather than error

SP e
+ PP
TTmm
 dt
+ CO
PP

d
PP .D
D dt

PVm

P dPVm
CO =
Tm 
e dt + P ( PVm +
dt
)

 Maret 2005

Gain on Process Rather than Error (3)

 Process variable and valve response to a setpoint change

MV

SP

PVm
time
Fig. Process variable and valve response
to a setpoint change using
“Gain and Derivative on Process Measurement” PID
 Maret 2005

Digital PID Algorithms (1)

 Data acquisition concepts
Sampled signal Original signal

Continuous signal
t
sample

t Sampled signal Original signal

t = sampling time
2t

Shannon’s sampling theorem:

The sampling frequency must be greater or equal to two times of the highest
frequency occurring in the signal to be sampled
 Maret 2005

Digital PID Algorithms (2)

 Integral  Derivative
de ei – ei-1
e dt  t .  ei 
dt t

1 de
Continuous form: CO = P (e +
Tm 
e dt + D dt )

t D
Digital form: CO = P [ei + T
m
 ei + t (ei – ei-1) ]

i = sampling instant
 Maret 2005

Digital PID Algorithms (3)

 Two forms of digital PID algorithms:
• Positional form

t D
COi = P[ ei +T
m
 ei dt + t (ei – ei-1) ]

• Velocity form
 Inherently have anti reset windup feature

t D
COi = COi-1 + P [ (ei – ei-1) + ei + t (ei – 2ei-1+ei-2) ]
Tm
 Maret 2005

Several Offered PID Algorithms (1)

Distributed Control System (DCS)
 Honeywell TDC 3000
• Offers 4 (four) PID equations; A, B, C, and D

TDC 3000 P mode I mode D mode

Algorithm A Error Error Error

Algorithm B Error Error Measurement

Algorithm C Measurement Error Measurement

Not used
Algorithm D Not used Error
 Maret 2005

Several Offered PID Algorithms (2)

Distributed Control System (DCS)
 Foxboro I/A Series
 Yokogawa Centum CS 3000
 Bailey
 ABB
 Maret 2005

Several Offered PID Algorithms (3)

Programmable Logic Controller (PLC)
 Modicon 984

TDC 3000 P mode I mode D mode

P-only

PI

PID
 Maret 2005

Several Offered PID Algorithms (3)

Programmable Logic Controller (PLC)
 Modicon
 Allan-Bradley
• PLC-5
• SLC500
 Siemens
 Fuji Electric
 Maret 2005

Guidelines for Common Control Loops (1)

Flow and liquid pressure control

 Fast response with no time delay (no pipe/transportation)
 Usually with small high-frequency noise
 PI controller with intermediate controller gain

Liquid level control

 Noisy due to splashing and turbulence
 High gain, low integral action of PI controller for
integrating process
 Conservative setting for averaging control when it is used
for damping the fluctuation of the inlet stream
 Maret 2005

Guidelines for Common Control Loops (2)

Gas pressure control
 Usually fast and self regulating
 PI controller with small integral action (large reset time)

Temperature control
 Wide variety of the process nature
 Usually slow response with time delay
 Use PID controller to speed up the response
 Maret 2005

Guidelines for Common Control Loops (3)

Composition control
 Similar to temperature control usually with larger noise
and more time delay
 Effectiveness of derivative action is limited
 Temperature and composition controls are the prime
candidates for advance control strategies due to its
importance and difficulty of control
 Maret 2005

Session Summary
 PID control, which is the most widely used control
algorithm in process control application, comes in different
forms and terms
 Each of the terms of the PID equation must be
understood to obtain a right combination of the PID
control elements for various process control application
objectives